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2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

作者： Yu, Yue Wang, Honglun Li, Na Zhang, Huiping Liu, Chang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing 100191 China Unmanned System Research Institute Beihang University Beijing 100191 China School of Automation Beijing Institute of Technology and Beijing Aerospace Automatic Control Institute Beijing 100081 China

ISBN: (纸本)9781538637432;9781538637425

In this paper, a novel finite-Time decoupling direct control (FDDC) scheme is proposed for attitude tracking problem of hypersonic reentry vehicle (HRV) based on second-order active disturbance rejection control (SADRC). Unlike traditional control method which separates control system into outer-loop attitude control and inner-loop angular rate control, attitude is controlled by control actuator straightforward with single loop. Firstly, the attitude tracking problem is converted to the decoupling control problem of a three-input and three-output cross coupling system. In each channel, a SADRC controller, which is composed of tracking differentiator (TD), extended state observer (ESO) and nonlinear state error feedback (NLSEF), is designed to track attitude command of the corresponding channel in a finite-Time sense. Finally, the obtained virtual control input is transformed into actual control input, which acts on the HRV model. Simulations are conducted to verify the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： decoupling control extended state observer (ESO) finite-Time second-order active disturbance rejection control (SADRC)

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Nonlinear filtering with adaptive estimation of state transfer matrix for nonlinear systems with multiplicative noise

Nonlinear filtering with adaptive estimation of state transf...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jianwen Meng Quanbo Ge Rui Wang Zhuyun Niu Logistics Engineering College Shanghai Maritime University Shanghai China Institute of System Science and Control Engineering School of Automation Hangzhou Dianzi University Hangzhou China North Automatic Control Technology Institute Taiyuan Shanxi China

ISBN: (纸本)9781538629024

State estimation for systems with unknown state transfer matrix and multiplicative noise is very classical and important in signal processing and target tracking. Aiming at the problem, an adaptive estimation algorithm which can deal with unknown state transfer matrix and multiplicative noise has been presented by Dongsheng Chu for linear systems under without considering multiplicative noise in [1]. This work is very interesting and significative. A direct problem is how to design the adaptive estimation algorithm for nonlinear systems based on the current work. For this, this paper considers the estimator design of nonlinear systems with unknown state transfer matrix and multiplicative noise by using the extended Kalman filter (EKF). The purpose is to want to make clear the difference of estimators design between the linear system and the nonlinear system. Accordingly, it can provide the base to design adaptive unscented Kalman filter with unknown state transfer matrix and multiplicative noise. The result shows that there is difference between adaptive algorithms for linear and nonlinear systems, but the derive processes are similar.

关键词： Mathematical model Algorithm design and analysis Estimation Noise measurement Nonlinear systems Kalman filters Heuristic algorithms

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Enhanced Geometric Map:a 2D&3D Hybrid City Model of Large Scale Urban Environment for Robot Navigation

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机器人 2016年第3期38卷 311-321页

作者： LI Haifeng HU Zunhe LIU Jingtai College of Computer Science and Technology Civil Aviation University of China Tianjin 300300 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Fuzhou 350121 China Institute of Robotics and Information Automatic System Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Tianjin 300071 China

To facilitate scene understanding and robot navigation in large scale urban environment, a two-layer enhanced geometric map(EGMap) is designed using videos from a monocular onboard camera. The 2D layer of EGMap consists of a 2D building boundary map from top-down view and a 2D road map, which can support localization and advanced map-matching when compared with standard polyline-based maps. The 3D layer includes features such as 3D road model,and building facades with coplanar 3D vertical and horizontal line segments, which can provide the 3D metric features to localize the vehicles and flying-robots in 3D space. Starting from the 2D building boundary and road map, EGMap is initially constructed using feature fusion with geometric constraints under a line feature-based simultaneous localization and mapping(SLAM) framework iteratively and progressively. Then, a local bundle adjustment algorithm is proposed to jointly refine the camera localizations and EGMap features. Furthermore, the issues of uncertainty, memory use, time efficiency and obstacle effect in EGMap construction are discussed and analyzed. Physical experiments show that EGMap can be successfully constructed in large scale urban environment and the construction method is demonstrated to be very accurate and robust.

关键词：被提高的几何学的地图都市模型机械手航运同时发生的定位而且映射局部的包裹调整

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Observer-based fault detection for affine nonlinear systems with disturbances and uncertainties 35

Observer-based fault detection for affine nonlinear systems ...

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第35届中国控制会议

作者： HAN Huayun YANG Ying LI Linlin Chen Yu State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University School of Automation and Electrical Engineering University of Science and Technology Beijing the Institute for Automatic Control and Complex Systems (AKS) University of Duisburg-Essen Beijing Institute of Astronautics System Engineering

ISBN: (纸本)9781509009107

This paper is concerned with the integrated design schemes of L observer-based fault detection（FD） systems for affine nonlinear processes with disturbances and uncertainties,*** this end,a so called L observer-based FD scheme is studied ***,the integrated design approaches for nonlinear systems with disturbances and uncertainties are addressed,*** the end,examples are given to illustrate the effectiveness of the proposed approaches.

关键词： Robust Fault Detection Observer Design Affine Nonlinear systems

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Stellar masses from granulation and oscillations of 23 bright red giants observed by BRITE - Constellation

arXiv

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arXiv 2019年

作者： Kallinger, T. Beck, P.G. Hekker, S. Huber, D. Kuschnig, R. Rockenbauer, M. Winter, P.M. Weiss, W.W. Handler, G. Moffat, A.F.J. Pigulski, A. Popowicz, A. Wade, G.A. Zwintz, K. Institut für Astrophysik Universität Wien Türkenschanzstrasse 17 Vienna1180 Austria Instituto de Astrofísica de Canarias La Laguna TenerifeE-38200 Spain Departamento de Astrofísica Universidad de La Laguna La Laguna TenerifeE-38206 Spain Max Planck Institute for Solar System Research Justus-von-Liebig-Weg 3 Göttingen37077 Germany Stellar Astrophysics Centre Department of Physics and Astronomy Aarhus University Ny Munkegade 120 Aarhus C8000 Denmark Institute for Astronomy University of Hawai'i 2680 Woodlawn Drive HonoluluHI96822 United States Institut für Kommunnikationsnetze und Satellitenkommunikation Technical University Graz Inffeldgasse 12 Graz8010 Austria Institute for Machine Learning Johannes Kepler University Computer Science Building Altenberger Str. 69 Linz4040 Austria Nicolaus Copernicus Astronomical Center ul. Bartycka 18 Warsaw00-716 Poland Université de Montréal CP 6128 Succ. Centre-Ville MontréalQCH3C 3J7 Canada Instytut Astronomiczny Uniwersytet Wroclawski Kopernika 11 Wroclaw51-622 Poland Institute of Automatic Control Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Department of Physics Royal Military College of Canada PO Box 17000 Station Forces KingstonONK7K 0C6 Canada Universität Innsbruck Institut für Astro- und Teilchenphysik Technikerstrasse 25 InnsbruckA-6020 Austria

Context. The study of stellar structure and evolution depends crucially on accurate stellar parameters. The photometry from space telescopes has provided superb data that allowed asteroseismic characterisation of thousands of stars. However, typical targets of space telescopes are rather faint and complementary measurements are difficult to obtain. On the other hand, the brightest, otherwise well-studied stars, are lacking seismic characterization. Aims. Our goal is to use the granulation and/or oscillation time scales measured from photometric time series of bright red giants (1.6 ≤ V mag ≤ 5.3) observed with BRITE - Constellation to determine stellar surface gravities and masses. Methods. We use probabilistic methods to characterize the granulation and/or oscillation signal in the power density spectra and the autocorrelation function of the BRITE - Constellation time series. Results. We detect a clear granulation and/or oscillation signal in 23 red giant stars and extract the corresponding time scales from the power density spectra as well as the autocorrelation function of the BRITE - Constellation time series. To account for the recently discovered non-linearity of the classical seismic scaling relations, we use parameters from a large sample of Kepler stars to re-calibrate the scalings of the high- and low-frequency components of the granulation signal. We develop a method to identify which component is measured if only one granulation component is statistically significant in the data. We then use the new scalings to determine the surface gravity of our sample stars, finding them to be consistent with those determined from the autocorrelation signal of the time series. We further use radius estimates from the literature to determine the stellar masses of our sample stars from the measured surface gravities. We also define a statistical measure for the evolutionary stage of the stars. Conclusions. Our sample of stars covers low-mass stars on the lower giant br

关键词： Granulation

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F-CNN: An FPGA-based framework for training Convolutional Neural Networks

F-CNN: An FPGA-based framework for training Convolutional Ne...

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International Conference on Application Specific systems (ASAP), Architectures and Processors

作者： Wenlai Zhao Haohuan Fu Wayne Luk Teng Yu Shaojun Wang Bo Feng Yuchun Ma Guangwen Yang Ministry of Education Key Laboratory for Earth System Modeling and Center for Earth System Science Tsinghua University China Tsinghua National Laboratory for Information Science and Technology China Department of Computing Imperial college London UK Department of Automatic Test and Control Harbin Institute of Technology China Department of Computer Science and Technology Tsinghua University China

ISBN: (纸本)9781509015047

This paper presents a novel reconfigurable framework for training Convolutional Neural Networks (CNNs). The proposed framework is based on reconfiguring a streaming datapath at runtime to cover the training cycle for the various layers in a CNN. The streaming datapath can support various parameterized modules which can be customized to produce implementations with different trade-offs in performance and resource usage. The modules follow the same input and output data layout, simplifying configuration scheduling. For different layers, instances of the modules contain different computation kernels in parallel, which can be customized with different layer configurations and data precision. The associated models on performance, resource and bandwidth can be used in deriving parameters for the datapath to guide the analysis of design trade-offs to meet application requirements or platform constraints. They enable estimation of the implementation specifications given different layer configurations, to maximize performance under the constraints on bandwidth and hardware resources. Experimental results indicate that the proposed module design targeting Maxeler technology can achieve a performance of 62.06 GFLOPS for 32-bit floating-point arithmetic, outperforming existing accelerators. Further evaluation based on training LeNet-5 shows that the proposed framework achieves about 4 times faster than CPU implementation of Caffe and about 7.5 times more energy efficient than the GPU implementation of Caffe.

关键词： Training Field programmable gate arrays Convolution Computational modeling Bandwidth Neural networks Runtime

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Water distribution network optimization using genetic algorithms 13

Water distribution network optimization using genetic algori...

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13th Annual International Industrial Simulation Conference 2015, ISC 2015

作者： Fajdek, Bartlomiej Stachura, Marcin Studzihski, Jan Warsaw University of Technology Institute of Automatic Control and Robotics Ul. Sw. A. Boboli 8 Warsaw02-525 Poland Polish Academy of Science Institute of System Research Ul. Newelska 6 Warsaw01-447 Poland

ISBN: (纸本)9789077381892

This paper presents the description of the IT solutions which have been applied in a computer simulation system for optimal pump switching. The Genetic Algorithm (GA) was used to solve the altered multi-objective optimization model. Nowadays, genetic algorithms (GA) have becomes one of the preferred water system designed optimization technique for many researchers (Cheung 2003;Prasad et al. 2004;Zheng 2013;Jin Xi et al. 2008;Kurek and Ostfeld 2013). The main reason is that GA (Golberg 1989) have the ability to deal with complex nonlinear optimization problems. The GA is integrated with the hydraulic simulation programme called WD S (Water Distribution system). The description of the implementation of the WD S software is provided in (Fajdek et al. 2014;Stachura et al. 2012). The WDS software can be used to design new networks, analyse existing networks, perform hydraulic simulation of the networks etc. In (Fajdek et al. 2014) the WDS system performance was presented using simple example of rehabilitation process applied to the hypothetical network. In this paper, a new algorithm for pump scheduling was presented and applied to the real water distribution system of Glubczyce city. Pump scheduling is one of the most important tasks of the operation of a water distribution system. Moreover, it is much more complex problem than rehabilitation process. The main goal was to schedule N pumps in water distribution system over a time period, in our case 24 hours. In proposed solution we had to use a more complex solutions in both math and programming than in the solution applied to rehabilitation process (Fajdek et al. 2014). Developed algorithm which is the part of WDS software for complex management of communal waterworks is under development at the Warsaw University of Technology, institute of automatic control and Robotics, in cooperation with the systems Research institute of Polish Academy of sciences.

关键词： Pumps

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROscience 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Separable Nonlinear Model Predictive control via Sequential Quadratic Programming for Large-scale systems *

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IFAC-PapersOnLine 2015年第23期48卷 495-500页

作者： Liang Lu Department of Chemical and Biomolecular Engineering (BK21 Plus Program) Korea Advanced Institute of Science & Technology Daejeon Korea. Laboratory for Automatic Control and System Dynamics Technische Universität Chemnitz Chemnitz Germany.

In this paper, a sequential quadratic programming method is presented for largescale nonlinear and possibly non-convex model predictive control (MPC) optimization problem which is often set up with a separable objective function. By introducing the so-call consensus constraints to separate the couplings among the subsystems. The resulting QP subproblem is formulated in a separable form, which makes it possible to use the existing alternating direction methods, like ADMM, to efficiently compute Newton steps for the overall system in a distributed way. In order to enforce the convergence rate of the distributed computation, a distributed line search with local merit functions is also proposed.

关键词： Sequential quadratic programming separable model predictive control alternating direction method of multipliers nonlinear systems non-convex optimization large-scale optimization distributed line search

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An improved RSSI localisation algorithm in coal tunnel based on beacon nodes

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International Journal of Wireless and Mobile Computing 2014年第3期7卷 270-274页

作者： Qiao, Gang-Zhu Qi, Jin-Song Hu, Chun-Fu Zeng, Jian-Chao Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology Taiyuan Shanxi 030024 China CNGC North Automatic Control Technology Institute Taiyuan Shanxi 030006 China

Since the coal mine tunnels are always very long and narrow, multipath effects of radio signal in tunnels are produced and low positioning accuracy of Received Signal Strength Indicator (RSSI) location algorithm is achieved. According to the research on the special environment of coal mine and combining the arrangement of beacon nodes in mine tunnels, an improved RSSI localisation algorithm based on beacon nodes is proposed in this paper. The method of beacon nodes' ID number, coordinate information and hop counts broadcasting to network in DV-HOP was introduced in this algorithm, to exclude the effects of disturbed RSSI values on personnel location. And the hop counts and coordinate information were used to correct location error. As a result, the noise immunity and location accuracy of RSSI were improved. The simulation shows that the effect of proposed method is more precise than RSSI under the same environment and can meet the requirements of underground person position. Copyright © 2014 Inderscience Enterprises Ltd.

关键词： Coal mines

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